{"id":"https://openalex.org/W2021314974","doi":"https://doi.org/10.1109/icra.2014.6907804","title":"Bimanual compliant tactile exploration for grasping unknown objects","display_name":"Bimanual compliant tactile exploration for grasping unknown objects","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2021314974","doi":"https://doi.org/10.1109/icra.2014.6907804","mag":"2021314974"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907804","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/196659","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076608279","display_name":"Nicolas Le Sommer","orcid":"https://orcid.org/0000-0001-9452-4611"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Nicolas Sommer","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL)","Ecole polytechnique federale de Lausanne (EPFL);"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Ecole polytechnique federale de Lausanne (EPFL);","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101619153","display_name":"Miao Li","orcid":"https://orcid.org/0000-0002-7245-6598"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Miao Li","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL)","Ecole polytechnique federale de Lausanne (EPFL);"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Ecole polytechnique federale de Lausanne (EPFL);","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL)","Ecole polytechnique federale de Lausanne (EPFL);"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Ecole polytechnique federale de Lausanne (EPFL);","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6400","last_page":"6407"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9664999842643738,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9639999866485596,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.9550615549087524},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7583449482917786},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7478525042533875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7160741686820984},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.711958646774292},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7048944234848022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6765716671943665},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6059218049049377},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5732057690620422},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5460224151611328},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4802008867263794},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4337446391582489},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4282481074333191},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09869521856307983}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.9550615549087524},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7583449482917786},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7478525042533875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7160741686820984},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.711958646774292},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7048944234848022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6765716671943665},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6059218049049377},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5732057690620422},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5460224151611328},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4802008867263794},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4337446391582489},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4282481074333191},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09869521856307983},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2014.6907804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907804","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.472.8396","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.472.8396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://lasa.epfl.ch/publications/uploadedFiles/ICRA2014-submitted.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:196659","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/196659","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:infoscience.tind.io:196659","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/100640","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:196659","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/196659","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W31424620","https://openalex.org/W1603342912","https://openalex.org/W1858225614","https://openalex.org/W1990273696","https://openalex.org/W2005824379","https://openalex.org/W2018020788","https://openalex.org/W2021672660","https://openalex.org/W2034939775","https://openalex.org/W2049981393","https://openalex.org/W2057455180","https://openalex.org/W2061604057","https://openalex.org/W2064029479","https://openalex.org/W2085583171","https://openalex.org/W2098626000","https://openalex.org/W2100313657","https://openalex.org/W2107153006","https://openalex.org/W2115846099","https://openalex.org/W2128409098","https://openalex.org/W2145501120","https://openalex.org/W2165143346","https://openalex.org/W2180140657","https://openalex.org/W6601271567","https://openalex.org/W6636249975","https://openalex.org/W6638837534","https://openalex.org/W6648053962","https://openalex.org/W6674582482"],"related_works":["https://openalex.org/W2963178506","https://openalex.org/W4301244418","https://openalex.org/W2789446524","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2198321481","https://openalex.org/W2963637864","https://openalex.org/W2468450675"],"abstract_inverted_index":{"Humans":[0],"have":[1,135],"an":[2,131],"incredible":[3],"capacity":[4],"to":[5,62,73,116,138],"learn":[6],"properties":[7],"of":[8,42,77],"objects":[9,64],"by":[10,37],"pure":[11],"tactile":[12,24,57,88],"exploration":[13,25,69],"with":[14,59],"their":[15],"two":[16,79],"hands.":[17],"With":[18],"robots":[19],"moving":[20],"into":[21],"human-centred":[22],"environment,":[23],"becomes":[26],"more":[27,29],"and":[28,65,81,105],"important":[30],"as":[31],"vision":[32],"may":[33],"be":[34],"occluded":[35],"easily":[36],"obstacles":[38],"or":[39],"fail":[40],"because":[41],"different":[43],"illumination":[44],"conditions.":[45],"In":[46],"this":[47,87],"paper,":[48],"we":[49],"present":[50],"our":[51,140],"first":[52],"results":[53],"on":[54,111,130],"bimanual":[55],"compliant":[56],"exploration,":[58,89],"the":[60,75,78,84,99,118],"goal":[61],"identify":[63],"grasp":[66],"them.":[67],"An":[68],"strategy":[70],"is":[71,93,102,114,122],"proposed":[72,115],"guide":[74],"motion":[76],"arms":[80],"fingers":[82],"along":[83],"object.":[85,97],"From":[86],"a":[90,108],"point":[91,100],"cloud":[92,101],"obtained":[94],"for":[95,126],"each":[96],"As":[98],"intrinsically":[103],"noisy":[104],"un-uniformly":[106],"distributed,":[107],"filter":[109],"based":[110],"Gaussian":[112],"Processes":[113],"smooth":[117],"data.":[119],"This":[120],"data":[121],"used":[123],"at":[124],"runtime":[125],"object":[127],"identification.":[128],"Experiments":[129],"iCub":[132],"humanoid":[133],"robot":[134],"been":[136],"conducted":[137],"validate":[139],"approach.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}